version: 66.04
glider: 14
mission: 6
dive: 52
start: 9 9 108 4 48 10
data:
$ID,14
$MISSION,6
$DIVE,52
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,340
$T_ABORT,1440
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,315
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-651128
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2705
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$ROLL_DEG,40
$C_ROLL_DIVE,1600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2539
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00159
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,95.400002
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-15.110782
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043093944
$SEABIRD_T_H,0.00064003747
$SEABIRD_T_I,2.16239e-05
$SEABIRD_T_J,2.0570888e-06
$SEABIRD_C_G,-10.001513
$SEABIRD_C_H,1.1265433
$SEABIRD_C_I,-0.0010666439
$SEABIRD_C_J,0.00016314148
$GPS1,044138,6334.418,-718.335,40,0.8,40,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-64.0
$GPS2,044745,6334.407,-718.243,11,1.1,11,-9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6342.043,-735.478
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.083,-0.242
$KALMAN_X,65426.2,-9.8,97.6,-67618.7,1620.8
$KALMAN_Y,66441.6,-131.4,393.1,-108976.0,1249.1
$MHEAD_RNG_PITCHd_Wd,324.0,20000,-17.8,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.38,-146.6,0.0,0.0,0,79,0.00,0.00,-60.40,0.000,2,0.000,0.000,382,1599,2758
$GC,83,-1.38,-146.6,3.9,-5.8,3,108,11.40,2.45,-8.62,0.000,4,0.181,0.078,2398,3001,3140
$GC,329,-1.38,-146.6,41.6,-12.0,14,333,0.00,2.42,0.00,0.000,6,0.000,0.060,2398,1588,3141
$GC,656,-1.38,-146.6,81.3,-12.9,30,661,0.00,2.47,0.00,0.000,4,0.000,0.080,2398,212,3143
$GC,736,-1.38,-146.6,92.6,-13.4,33,742,0.00,2.35,0.00,0.000,6,0.000,0.054,2398,1630,3144
$GC,1052,-1.38,-146.6,132.3,-12.1,49,1057,0.00,2.55,0.00,0.000,4,0.000,0.076,2398,211,3145
$GC,1120,-1.38,-146.6,141.2,-13.5,52,1124,0.00,2.30,0.00,0.000,6,0.000,0.054,2398,1603,3145
$GC,1441,-1.38,-146.6,181.6,-12.8,68,1445,0.00,2.47,0.00,0.000,4,0.000,0.074,2398,211,3145
$GC,1510,-1.38,-146.6,190.7,-13.8,71,1515,0.00,2.30,0.00,0.000,6,0.000,0.054,2398,1603,3145
$GC,1838,-1.38,-146.6,231.4,-12.0,87,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1606,3145
$GC,2147,-1.38,-146.6,269.4,-12.5,102,2151,0.00,2.50,0.00,0.000,4,0.000,0.075,2398,211,3146
$GC,2220,-1.38,-146.6,279.0,-13.8,105,2225,0.00,2.30,0.00,0.000,6,0.000,0.054,2398,1598,3146
$GC,2537,-1.38,-146.6,320.7,-14.1,120,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1602,3148
$GC,2846,-1.38,-146.6,360.7,-12.6,135,2850,0.00,2.53,0.00,0.000,4,0.000,0.079,2398,207,3149
$GC,2919,-1.38,-146.6,370.1,-13.1,138,2923,0.00,2.33,0.00,0.000,6,0.000,0.054,2398,1597,3149
$GC,3236,-1.38,-146.6,405.9,-11.1,153,3239,0.00,2.53,0.00,0.000,4,0.000,0.081,2397,212,3149
$GC,3275,-1.38,-146.6,410.5,-10.9,154,3281,0.00,2.33,0.00,0.000,6,0.000,0.055,2398,1594,3150
$GC,3591,-1.38,-146.6,444.2,-10.5,170,3596,0.00,2.50,0.00,0.000,4,0.000,0.081,2397,2989,3150
$GC,3625,-1.38,-146.6,447.8,-10.1,171,3632,0.00,2.40,0.00,0.000,6,0.000,0.064,2398,1598,3149
$GC,3942,-1.38,-146.6,481.2,-10.7,187,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1598,3149
$GC,4251,-1.38,-146.6,514.8,-11.1,202,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1598,3149
$GC,4560,-1.38,-146.6,548.0,-10.5,217,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1598,3149
$GC,4869,-1.38,-146.6,580.4,-10.3,232,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1598,3148
$GC,5179,-1.38,-146.6,613.2,-10.8,247,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1598,3147
$GC,5488,-1.38,-146.6,646.1,-10.6,262,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1598,3145
$GC,5797,-1.38,-146.6,679.3,-10.7,277,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1599,3143
$GC,6107,-1.38,-146.6,711.9,-10.4,292,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1598,3143
$GC,6416,-1.38,-146.6,744.4,-10.2,307,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1598,3141
$GC,6726,-1.38,-146.6,775.4,-9.9,322,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1598,3141
$GC,7035,-1.38,-146.6,805.1,-9.4,337,7039,0.00,2.53,0.00,0.000,4,0.000,0.087,2398,215,3139
$GC,7068,-1.38,-146.6,808.6,-10.5,338,7074,0.00,2.33,0.00,0.000,6,0.000,0.054,2398,1602,3139
$GC,7385,-1.38,-146.6,838.6,-9.2,354,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1605,3139
$GC,7694,-1.38,-146.6,868.5,-10.0,369,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1605,3138
$GC,8003,-1.38,-146.6,899.5,-10.2,384,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1605,3137
$GC,8312,-1.38,-146.6,930.9,-10.2,399,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1605,3136
$GC,8622,-1.38,-146.6,962.1,-9.8,414,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1605,3135
$STATE,8907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8907,begin apogee
$GC,8916,-0.32,0.0,990.8,9.9,428,9051,1.15,0.00,129.25,1.351,6,0.116,0.000,2632,2197,2538
$STATE,9051,end apogee,CONTROL_FINISHED_OK
$STATE,9052,begin climb
$GC,9055,1.38,146.6,996.1,0.0,435,9189,1.75,2.70,125.22,1.314,4,0.080,0.089,3006,3597,1941
$GC,9379,1.40,156.9,972.9,9.5,450,9395,0.00,2.45,10.45,1.249,6,0.000,0.060,3006,2195,1899
$GC,9706,1.40,156.9,939.6,10.1,465,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2195,1897
$GC,10015,1.40,156.9,908.9,10.1,480,10019,0.00,2.58,0.00,0.000,4,0.000,0.082,3006,3592,1897
$GC,10121,1.40,156.9,897.5,11.1,484,10127,0.00,2.42,0.00,0.000,6,0.000,0.059,3006,2200,1896
$GC,10438,1.42,167.4,866.3,9.5,500,10450,0.00,0.00,10.07,1.153,6,0.000,0.000,3006,2200,1856
$GC,10747,1.42,171.9,835.7,9.8,515,10757,0.00,2.60,5.65,0.964,4,0.000,0.081,3006,3590,1837
$GC,10848,1.42,171.9,824.6,10.2,519,10854,0.00,2.42,0.00,0.000,6,0.000,0.059,3007,2202,1837
$GC,11165,1.43,178.7,793.7,9.7,535,11174,0.00,0.00,7.40,1.047,6,0.000,0.000,3006,2203,1809
$GC,11474,1.43,178.7,762.9,10.1,550,11478,0.00,2.55,0.00,0.000,4,0.000,0.082,3006,3593,1809
$GC,11574,1.43,178.7,751.8,11.1,554,11581,0.00,2.42,0.00,0.000,6,0.000,0.060,3006,2199,1809
$GC,11891,1.43,178.7,719.0,10.3,570,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2200,1809
$GC,12200,1.44,179.9,687.8,9.9,585,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2200,1808
$GC,12509,1.44,179.9,656.8,10.1,600,12514,0.00,2.55,0.00,0.000,4,0.000,0.084,3006,3592,1808
$GC,12617,1.44,179.9,645.0,10.8,605,12621,0.00,2.42,0.00,0.000,6,0.000,0.061,3006,2200,1808
$GC,12945,1.44,179.9,610.8,10.4,621,12946,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2200,1808
$GC,13254,1.44,179.9,578.4,10.5,636,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2200,1808
$GC,13563,1.44,179.9,546.0,10.4,651,13567,0.00,2.58,0.00,0.000,4,0.000,0.083,3006,3594,1808
$GC,13636,1.44,179.9,537.9,11.1,654,13640,0.00,2.42,0.00,0.000,6,0.000,0.061,3006,2200,1808
$GC,13952,1.44,180.0,506.1,10.0,669,13953,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2200,1808
$GC,14262,1.46,194.6,476.1,9.3,684,14280,0.00,0.00,14.55,0.992,6,0.000,0.000,3006,2201,1744
$GC,14591,1.46,194.6,440.5,10.9,700,14595,0.00,2.55,0.00,0.000,4,0.000,0.081,3006,3592,1744
$GC,14727,1.46,194.6,423.3,12.1,706,14732,0.00,2.42,0.00,0.000,6,0.000,0.061,3006,2194,1743
$GC,15060,1.46,194.6,382.0,12.1,722,15065,0.00,2.55,0.00,0.000,4,0.000,0.081,3006,3592,1743
$GC,15123,1.46,194.6,374.2,12.5,725,15127,0.00,2.42,0.00,0.000,6,0.000,0.061,3006,2200,1743
$GC,15457,1.46,194.6,337.0,10.7,741,15458,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2200,1741
$GC,15766,1.46,194.6,304.4,10.7,756,15771,0.00,2.55,0.00,0.000,4,0.000,0.082,3006,3592,1740
$GC,15924,1.46,194.6,287.0,11.0,763,15928,0.00,2.42,0.00,0.000,6,0.000,0.061,3006,2199,1740
$GC,16251,1.46,194.6,249.0,12.1,779,16252,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1740
$GC,16560,1.46,194.6,212.4,11.4,794,16561,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2200,1740
$GC,16869,1.46,194.6,178.4,10.5,809,16874,0.00,2.55,0.00,0.000,4,0.000,0.081,3006,3600,1740
$GC,16959,1.46,194.6,168.1,10.6,813,16964,0.00,2.42,0.00,0.000,6,0.000,0.061,3006,2199,1740
$GC,17283,1.46,194.6,134.9,10.5,829,17285,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1740
$GC,17591,1.46,194.6,103.4,10.0,844,17595,0.00,2.53,0.00,0.000,4,0.000,0.081,3006,3593,1740
$GC,17641,1.46,194.6,97.9,12.0,846,17645,0.00,2.40,0.00,0.000,6,0.000,0.061,3006,2199,1740
$GC,17963,1.46,194.6,62.6,11.3,862,17967,0.00,2.53,0.00,0.000,4,0.000,0.078,3006,3597,1740
$GC,18058,1.46,194.6,51.2,12.5,866,18062,0.00,2.42,0.00,0.000,6,0.000,0.060,3006,2199,1740
$GC,18375,1.46,197.7,17.7,9.9,881,18377,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,1740
$STATE,18536,end climb,SURFACE_DEPTH_REACHED
$STATE,18536,begin surface coast
$FINISH,0.6,1.014096
$STATE,18558,end surface coast,CONTROL_FINISHED_OK
$STATE,18558,begin surface
$SM_CCo,18584,60.45,0.691,0,0,1315,300.00
$SM_GC,1.32,0.00,0.00,60.45,0.000,0.000,0.691,380,1600,1315,-10.70,-0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1884
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,23.4,11.335
$10V_AH,10.1,6.388
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.775,105.550,302.600,60.450,0.000,39.025,29.633,163.417,8.500,0.000,0.000,12.721,1616.075,14417.407,481.582,1918.074,586.344,0.000,1416.842,0.000,1875.781,0.000,55.986,0.000
$DEVICE_MAMPS,181.012,88.972,1350.687,691.067,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,668.755,608.286,473.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44314,890
$CAP_FILE_SIZE,122244,0
$CFSIZE,254472192,248590336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,090908,100008,6335.436,-722.395,29,0.9,29,-9.1